Vibratory Motion

Dr. Khalid Mahmood

Associate Professor
Department of Civil Engineering, SUIT, Peshawar
 Introduction
• Many different types of dynamic loading can induce vibratory
motion in soils and structures.

• To solve problems involving the dynamic response of soils and

structures, it is necessary to be able to describe dynamic events.

• They can be described in different ways, and the geotechnical

earthquake engineer must be familiar with each.

• The appendix A (Kramer 1996) provides a brief description of

vibratory motion and introduces the nomenclature and mathematical
forms by which it is usually described.
 TYPES OF VIBRATORY MOTION

• Vibratory motion can be divided into two broad categories: periodic motion and
nonperiodic motion.

• Periodic motions are those which repeat themselves at regular intervals of time.

• Mathematically, a motion, u(t), is periodic if there exists some period, Tf , for which
u(t + Tf ) = u(t) for all t.

• The simplest form of periodic motion is simple harmonic motion in which

displacement varies sinusoidally with time.

• Nonperiodic motions, which do not repeat themselves at constant intervals, can

result from impulsive loads (e.g., explosions or falling weights), or from longer-
duration transient loadings (e.g., earthquakes or traffic).
• Examples of periodic and nonperiodic motions are shown in Figure A.I.
TYPES OF VIBRATORY MOTION
 TYPES OF VIBRATORY MOTION

• Some forms of periodic motion (e.g., Figure A.I b) may appear to be

much more complex than simple harmonic motion, but with the
use of mathematical techniques described later in this appendix,
they can be expressed as the sum of a series of simple harmonic
motions.
• Even transient, nonperiodic motions such as those of Figure A.lc
and d can be represented as periodic motions by assuming that
they repeat themselves after some "quiet“ zone during which no
motion occurs (Figure A.2).
• Using this technique, even a transient motion can also be expressed
as a periodic motion.
• This becomes a very powerful tool for the dynamic analysis of linear
systems, where the principle of superposition allows the response
to transient loading to be expressed as the sum of the responses to
a series of simple harmonic loads.
 Simple Harmonic Motion
• Simple harmonic motion can be characterized by
sinusoidal motion at constant frequency.
• Its most important features can be defined by three
quantities: amplitude, frequency, and phase.
• Simple harmonic motion can be described in different
ways, two of which will be presented in the following
sections: using trigonometric notation or using
complex notation.
• Both notations are equivalent and both are commonly
used in geotechnical earthquake engineering.
 A..2.2 Trigonometric Notation for
Simple Harmonic Motion

rotating vector of length A shown in Figure AS.

A..2.2 Trigonometric Notation for
Simple Harmonic Motion
A..2.2 Trigonometric Notation for
Simple Harmonic Motion
 Trigonometric Notation for
Simple Harmonic Motion
• If the vector rotates counterclockwise about its origin at an
angular speed, 𝜔 , from its initial horizontal position, the
displacement, u(t), is given by the vertical component of the
vector
Trigonometric Notation for
Simple Harmonic Motion
 Trigonometric Notation for
Simple Harmonic Motion
• As shown in Figure A6, the sum of the sine and cosine
functions is also a sinusoid that oscillates at circular frequency,
𝜔 . However, its amplitude is not the simple sum of the
amplitudes of the sine and cosine functions, and its peaks do
not occur at the same times as those of the sine or cosine
functions. The rotating vector representation of this function is
illustrated in Figure A.7.
Trigonometric Notation for
Simple Harmonic Motion
 Complex Notation for
Simple Harmonic Motion

• Trigonometric descriptions of simple harmonic motion use

familiar functions that are easy to visualize.
• For many dynamic analyses, however, the use of trigonometric
notation leads to very long and awkward equations.
• These analyses become much simpler when motions are
described using complex notation (the word complex indicates
that complex variables are used, not that the notation is
particularly complicated).
 Complex Notation for
Simple Harmonic Motion
• Complex notation can be derived directly from
trigonometric notation using Euler's law:
𝑒 𝑖𝛼 = 𝑐𝑜𝑠𝛼 + 𝑖 𝑠𝑖𝑛𝛼 (1)

The quantity 𝑒 𝑖𝛼 is a complex number; it has two parts, a real part and an imaginary
part, which can be written as:

𝑅𝑒 𝑒 𝑖𝛼 = cos 𝛼

Im 𝑒 𝑖𝛼 = sin 𝛼
 Complex Notation for
Simple Harmonic Motion
Euler's law can be used to show that

𝑒 𝑖𝛼 + 𝑒 −𝑖𝛼 𝑒 𝑖𝛼 − 𝑒 −𝑖𝛼
cos 𝛼 = sin 𝛼 =
2 2

Substituting these expressions into the general expression for harmonic motion equation
(AA) gives

𝑒 𝑖𝜔𝑡 +𝑒 −𝑖𝜔𝑡 𝑒 𝑖𝜔𝑡 −𝑒 −𝑖𝜔𝑡

𝑢 𝑡 = 𝑎 - bi
2 2

𝑎 − 𝑖𝑏 𝑖𝜔𝑡 𝑎 + 𝑖𝑏 −𝑖𝜔𝑡
= 𝑒 + 𝑒
2 2
 Complex Notation for
Simple Harmonic Motion
• This form of the displacement may be visualized as a
pair of rotating vectors in an Argand diagram.
• An Argand diagram represents a complex number
graphically as a vector with orthogonal real and
imaginary components.
• Although usually drawn with the real axis oriented
horizontally, the rotated Argand diagram of Figure
A8a will help illustrate how this complex notation
describes simple harmonic motion.
 Complex Notation for
Simple Harmonic Motion
 Complex Notation for
Simple Harmonic Motion
 Other Measures of Motion
• Displacement is not the only parameter that can
be used to describe vibratory motion.
• In fact,other parameters are often of greater
interest.
• If the variation of displacement with time is
known, however, the other parameters of
interest can be determined.
• Differentiating the expression for simple
harmonic displacement produces expressions for
velocity and acceleration:
 Other Measures of Motion

Note that when the displacement amplitude is A, the velocity

amplitude is 𝜔𝐴 and the acceleration amplitude is 𝜔2 𝐴.

Thus frequency and the displacement, velocity, and acceleration

amplitudes of a harmonic motion are related in such a way that
knowledge of the frequency and anyone amplitude, or knowledge of
any two amplitudes, allows calculation of all other quantities.
 Other Measures of Motion
• Harmonic motion is completely defined in term of frequency, displacement,
velocity and acceleration as a single point. This important and useful
property of harmonic motions allows the use of tripartite plots.

• Tripartite plots, an example of which is shown in Figure A.9, are commonly

used to describe earthquake ground motions.

• It is important to note that these relationships apply only to harmonic

motions and that the relationships between displacement, velocity, and
acceleration for other types of motion must be obtained by differentiation
and/or integration.
 Other Measures of Motion
• Examination of equations (A.8) reveals that in addition to
having different amplitudes, the displacement, velocity, and
acceleration are out of phase with each other (Figure A.I 0).
𝜋
• The velocity can be seen to lead the displacement by radians,
2
or 90°, and the acceleration to lead the velocity by the same
amount.
• The relationships between displacement, velocity, and
acceleration for harmonic motions, in both trigonometric and
complex notation, are:
Other Measures of Motion
 Other Measures of Motion
• The relationship between harmonic displacements,
velocities, and accelerations can be visualized in
terms of three vectors rotating counterclockwise at an
angular speed co (Figure A.ll).
𝜋
• The acceleration vector is 90° (or radians) ahead of
2
the velocity vector and 180° (or 𝜋 radians) ahead of
the displacement vector.
Other Measures of Motion
 FOURIER SERIES
• While studying heat flow problems in the early nineteenth
century, the French mathematician J. B. j. Fourier showed that
any periodic function that meets certain conditions can be
expressed as the sum of a series of sinusoids of different
amplitude, frequency, and phase.

• By breaking down a complicated loading function such as that

imposed by an earthquake ground motion into the sum of a
series of simple harmonic loading functions, the principle of
superposition allows available solutions for harmonic loading
to be used to compute the total response (provided that the
system is linear), as illustrated schematically in Figure A.12.
 FOURIER SERIES

Figure A.12 Process by which Fourier series representation of

complicated loading can allow relatively simple solutions for
harmonic loading to be used to produce the total response: (a)
time history of loading; (b) representation of time history of
loading as sum of series of harmonic loads; (c) calculation of
response for each harmonic load; (d) representation of response as
sum of series of harmonic responses; (e) summation of harmonic
responses to produce time history of response.
 Fourier Series
• Trigonometric Form
• Since a Fourier series is simply a summation
of simple harmonic functions, it can be
expressed using either trigonometric notation
or complex notation.
• The general trigonometric form of the Fourier
series for a function of period, Tf , is
Fourier Series
 Fourier Series
𝜔𝑛 = 2𝜋𝑛ൗ𝑇
𝑓

The term 𝑎𝑜 represents the average value of 𝑥(𝑡) over the

range 𝑡 = 0 to 𝑡 = 𝑇𝑓 .
Its value is zero in many geotechnical earthquake engineering
applications.

Note that the frequencies, (𝜔𝑛 = 2𝜋𝑛ൗ𝑇𝑓 are not arbitrary;

rather, they are evenly spaced at a constant frequency
increment, ∆𝜔 = 2𝜋ൗ𝑇𝑓.
Fourier Series
Fourier Series
 Fourier Series
so the Fourier series is
Fourier Series
 Fourier Series
• The Fourier series can also be expressed in exponential
form. Substituting Equations A.7 into A11 for all n gives

Defining new Fourier coefficients,

where the * indicates the complex nature of the coefficient, the Fourier series can be
rewritten as
Fourier Series
Fourier Series
 Fourier Series
Fast Fourier Transform
• The DFT was developed long before computers were available, and
its use, for even modest values of N, was extremely labor intensive.
• As early as 1805, the beginning of a more efficient approach to the
DFT was described (Brigham, 1974). As digital computers were
developed in the 1960s, Cooley and Tukey (1965) developed a
computational algorithm for the case where N is a power of 2 that
has become known as the fast Fourier transform (FFT).
• By performing repeated operations on groups that start with a
single number and increase in size by a factor of2 at each ofjstages
(whereN= 20, the time required to complete the transform is
proportional to N 10g2N. Consequently, the FFT is much more
efficient than the DFT. For example, at N =2048, the FFT is more
than 180 times faster than the DFT.
• The inverse fast Fourier transform (IFFT) operates with equal speed.